JPH065271B2 - Track recording method - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a track recording method for a ship using an automatic surveying device used for marine civil engineering, surveying, and the like.

(Conventional Technology) Conventionally, as a technology in such a field, for example, there is one described in “Marine Civil Engineering Encyclopedia,” Second Edition, published on May 25, 1983, Industrial Research Council, P149-157. there were.

FIG. 7 is a block diagram showing an example of the configuration of such a conventional automatic water depth measuring apparatus. In this figure, a slave station R ₁ and a slave station R ₂ of a ship position measuring device are installed in a land section 1. This installation point is installed in advance at a measured reference point. Further, a tide level transmitter 3 having a function of automatically measuring the tide level by a tide level sensor 2 and transmitting the data by radio wave at a fixed time is installed in the land portion 1.

On the upper part of the ship, the ship position measuring device body 4 for receiving the ship position data, the tide level receiver 5 for receiving the tide level, the depth measuring device 6 for measuring the depth and outputting it as a digital value, and inputting those measurement data, the water depth A data processing device 7 for creating a data file is installed. The data processing device 7 includes an input / output interface 8, a CPU (central processing unit) 9, a floppy disk (hereinafter referred to as FDD) 10, an XY plotter (hereinafter referred to as XYP) 11, a printer (hereinafter referred to as ET).
12) and a graphic display (hereinafter referred to as GD) 13 with a keyboard KB. With these devices, a predetermined area is operated in advance and water depth data is automatically recorded.

FIG. 8 is a diagram for explaining a conventional method for determining a survey area.

According to FIG. 8, when deciding a rectangular survey area 14, part 1
A value X ₀ , Y ₀ from a base point based on the survey method of two points P ₀ or a zero point 0 of the local coordinate system (X, Y) [referred to as a zero base point of the reference coordinate system], from the X axis of the survey area 14 The inclination θ and the scale values Nx and Ny that give the survey range are given, and the survey area is designated by these constants. The designated survey area is drawn by XYP or GD, or stored in FDD.

FIG. 9 is an example of the drawing, in which a survey area 15 is determined in the survey area 14, and the vessel is maneuvered like a track 16 to collect necessary survey data.

(Problems to be Solved by the Invention) However, according to the above-described method for determining a survey area and the track drawing method using XYP or GD, there are the following problems.

(1) When you want to change the scale of the survey area once decided,
There is a case where the actually required measured amount area is lost, and it becomes necessary to change the coordinates X ₀ , Y ₀ of P ₀ to X ′ ₀ , Y ′ ₀ and input the data again, which complicates the work.

(2) When the own ship is not located in the survey area, the only way to know the own ship position is by the numerical data from the ship position measuring device and the own ship direction from the compass. Therefore, it is very difficult to guide your ship to the actual measurement area.

(3) Also, when surveying, the display of unmeasured parts was incorrect.

The present invention eliminates the above-mentioned problems and sets a surveying area without changing the complicated coordinate values X ₀ and Y ₀ that occur when the surveying area is changed, and guides the own ship into the surveying area during surveying and maneuvering. An object of the present invention is to provide a method of recording a track that can be easily performed.

(Means for Solving Problems) In order to solve the above problems, the present invention uses a reference coordinate (X ₀ , Y ₀ ) of a reference coordinate system as a coordinate origin P in the track recording method, and the reference coordinates A local coordinate system having a rotation angle θ with respect to the system is set, a survey area having the coordinate origin P as a survey origin is set in the local coordinate system, and the center of the display screen on which the survey area is defined is defined as the survey area. Match the surveying origin of the area, set and display the actual measurement area in the surveying area, draw a survey line guide line in the actual survey area with a predetermined survey line width,
When the position of the ship is determined by the ship position measuring device and the ship is located in the actual measurement area, the track is displayed on the display screen, and the survey area is set in the local coordinate system with the survey origin as the center. The scale value is changed so that the position of the own ship obtained by the ship position measuring device is sequentially stored while the position of the own ship is displayed on the display screen.

(Operation) According to the present invention, the center point of the survey area is the GD of the track recorder.
Positioned at the center of the screen or XYP, the drawn screen represents the entire survey area, and the track is recorded in the local coordinate system with the center point of the survey area as the coordinate origin. Then, an actual measurement area and a survey line guide line having a predetermined survey line width are drawn in this survey area, and a track is recorded when the ship is located in the actual survey area. When the ship is out of the basic screen, the screen is automatically shifted to a screen area wider than the basic screen centering on the center point of the survey area, and the position of the ship is displayed in the screen. Therefore, if the ship's position is within the screen with the scale values mNx and mNy, the ship can always be captured in the screen and the ship can be easily guided to the actual measurement area. In addition, the unmeasured part can be clearly seen.

(Example) Hereinafter, the Example of this invention is described in detail, referring drawings.

FIG. 1 is an explanatory diagram of a survey area setting method according to the present invention, in which the position of the ship is obtained by a ship position measuring device 4 (see FIG. 2), and in this figure, reference coordinates (X ₀ , Y ₀ ). Then, a coordinate origin P as a surveying origin and a rotation angle θ with respect to the reference coordinates around the coordinate origin P, for example, a tilt θ of the surveying area 14 is given clockwise or counterclockwise with respect to the X ₀ axis as a reference. . The required size of the survey area 14 is given by the scale values Nx and Ny.

FIG. 2 is a block diagram of a track recording device to which the survey area setting method of FIG. 1 is applied.

In this figure, the ship position measuring device 4 is used to determine the position x, y of the ship.
Is detected and represented as the value of the reference coordinate (X ₀ , Y ₀ ). This is called ship position data. Then, the output is captured by the arithmetic unit 23 via the input / output interface 8. The calculation unit 23 converts the ship position data into coordinate values based on the local coordinate system (X _R , Y _R ) set by the reference coordinates (X ₀ , Y ₀ ) and the position of the own ship on this local coordinate system. Ask for.

On the other hand, in the calculation unit 23, as the initial condition setting data,
Let X ₀ , Y ₀ and scale values Nx, Ny according to FIG. 1 be KB25.
Enter the settings according to the conversation style of GD26. Then, these constants are screen-processed and drawn on the GD26 screen. Reference numeral 24 is a transducer for measuring the depth.

Fig. 3 shows an example of the track screen displayed in GD. In this figure, the surveying origin P is located at the center, the X _R coordinate is in the vertical direction, and the Y _R coordinate is in the horizontal direction. Then
The distance units are the scale values Nx, N on each side of the basic screen 17.
Caught to match y. In addition to the above set values, the values P ₁ , P ₂ , P ₃ and P ₄ at the boundaries of the actual measurement area 15 are (X ₁ , Y ₁ ), (X ₂ , Y ₂ ), (X ₃ , Y ₃ ) and (X
₄ and Y ₄ ). Also, in actual surveying, the survey line interval is determined and the vessel is operated according to it. Therefore, as shown in FIG. 3, it is displayed as the survey line guide line W. A screen created in this way is called a basic screen 17.

Then, in the calculation unit 23, as shown in FIG. 4, when the initial condition is set, the basic screen 17 is used as a basic scale value m.
The second screen 18 consisting of Nx and mNy and the third screen 19 consisting of nNx and nNy are simultaneously processed and stored. However, 1 <m <n
And In this case, the surveying origin P is placed at the center of all screen configurations.

The ship position is left as a track on the track screen described above.
The track is displayed as local value ship position data converted into the local coordinate system Rx, Ry, and the value is the scale value Nx, Ny.
When 90% to 95% or more, the screen instantly changes to the second screen 1
Switch to 8. Also, the same ship position data
When the scale values mNx and mNy are 90% to 95% or more, the screen is switched to the third screen. Further, when the screen is the third screen 19, and when the ship position data is 90% to 95% or less of the scale values mNx and mNy, the screen is switched to the second screen 18. Further, when the ship position data is 90% to 95% or less with respect to the scale values Nx and Ny, the basic screen 17 is switched to. By adopting such a method, if the own ship position is within the range of the scale values nNx and nNy, it can always be captured on the GD26 screen. Normally, surveying and maneuvering is performed on the basic screen 17, but, for example, when an overrun occurs due to turning, the ship may be dislocated from the basic screen 17. At this time, by instantly switching to the second screen 18, the ship's position will not be lost from the GD26 screen. FIG. 10 is a diagram for explaining the display method of the track on the basic screen 17.

In this figure, the ship's position is displayed on the screen with, for example, a cross hair mark, and the operator guides the ship to a predetermined guide line W while looking at the ship's position display mark 20 and the measured amount area 15. To do. And when entering measurement area 15, wake 21
Leave as. At this time, the wake 21 left is the compass shown in Fig. 2.
22 and the data from the depth measuring device 6 are used to draw as a line width.

FIG. 6 is an enlarged view of part A of wake 21 in FIG.
The line width direction is expressed based on the direction data of the own ship's compass 22 (see FIG. 2). Further, the width is calculated by the calculation unit 23 by calculating the track width of the following formula (1), and the calculated value is drawn on the screen. In the equation (1), L is the track width, D is the depth measured by the depth measuring device 6, and d is the directivity angle (half-half angle) of the transducer 24 connected to the depth measuring device 6.

L = 2D tand (m) (1) That is, the track width L is calculated according to changes in the undulations of the seabed, and the track map is drawn accordingly. By drawing in this way, the unmeasured area can be made accurate.

The drawing as described above can be carried out by installing a compass and its interface in the conventional surveying device shown in FIG. 7 and modifying the data processing method in the data processing device to some extent.

In this way, the width of the wake drawn in the actual measurement area is drawn according to the depth of the seabed and the directivity angle, and the width is drawn according to the bearing of the ship. Therefore, it is possible to draw an extremely accurate surveying survey width. . Therefore, the unmeasured area can be grasped during the survey and the survey efficiency can be improved.

Further, the present invention is not limited to the bathymetric survey device,
It is applicable to magnetic exploration vessels.

The present invention is not limited to the above embodiment,
Various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

(Effects of the Invention) As described in detail above, according to the present invention, (1) since the center point coordinates of the target survey area are used as the survey origin, the range of the survey amount changes during the survey work. Even if the scale values Nx and Ny are changed, complicated reference coordinates (X ₀ ,
It is not necessary to replace Y ₀ ) again.

(2) By monitoring the GD screen in the process of guiding your ship to the survey area, you can reach the survey area quickly.

(3) By changing the scale value of the display screen of the survey area of the local coordinate system, even if the ship is located outside the screen due to overrun, etc.
Have multiple basic screens, 2nd screen and 3rd screen,
Since it is switched to a screen that is instantly adapted to the value of the ship position data, it can always be drawn on the GD screen, and the operator does not lose sight of his own ship position.

[Brief description of drawings]

FIG. 1 is an explanatory view of a survey area setting method of a track recording apparatus of the present invention, FIG. 2 is a block diagram of the track recording apparatus of the present invention,
FIG. 3 is a diagram showing an example of a track screen according to the present invention, FIG. 4 is a related diagram of three track screens according to the present invention, FIG. 5 is an explanatory view of a track display system according to the present invention, and FIG. Fig. 7 is an enlarged view of track A in Fig. 7, Fig. 7 is a block diagram of a conventional water depth automatic surveying device, Fig. 8 is an explanatory diagram of the survey area setting method of the conventional track recording device, and Fig. 9 is the method of Fig. 8. It is a track map showing an example by. 4 ... Ship position measuring device, 6 ... Depth measuring device, 8 ... Input / output interface, 14 ... Survey area, 15 ... Actual measurement area, 17 ... Basic screen, 18 ... 2nd screen, 19 ... 3rd screen, 20 ... Own ship Position display mark, 21 ... Wake, 22 ... Direction meter, 23 ... Calculation section, 24 ... Transceiver, W ... Survey line guide line.

Claims (1)

[Claims] 1. A reference coordinate (X ₀ , Y ₀ ) of a reference coordinate system is set as a coordinate origin P, and a local coordinate system having a rotation angle θ with respect to the reference coordinate system is set. A survey area with the coordinate origin P as the survey origin is set in the local coordinate system, and (c) the center of the display screen on which the survey area is defined coincides with the survey origin of the survey area, and an actual measurement is made in the survey area. Set and display the quantity area, (d) draw the measurement line guide line in the measured quantity area with a predetermined line width,
When the position of the ship is determined by the ship position measuring device and the ship is located in the actual measurement area, the track is displayed on the display screen, and the survey area is set in the local coordinate system with the survey origin as the center. The method of recording a track, wherein the scale value of the ship is made variable, and while the position of the ship is displayed on the display screen, the position of the ship obtained by the ship position measuring device is sequentially stored.